cvcompat.h

Ch is an embeddable C/C++ interpreter for cross platform scripting, 2D/3D plotting, numerical compu

    double* _distortion, CvPoint2D64f* _image_points,
    double* _deriv_points_rotation_matrix,
    double* _deriv_points_translation_vect,
    double* _deriv_points_focal,
    double* _deriv_points_principal_point,
    double* _deriv_points_distortion_coeffs )
{
    CvMat object_points = cvMat( point_count, 1, CV_64FC3, _object_points );
    CvMat image_points = cvMat( point_count, 1, CV_64FC2, _image_points );
    CvMat rotation_vector = cvMat( 3, 1, CV_64FC1, _rotation_vector );
    CvMat translation_vector = cvMat( 3, 1, CV_64FC1, _translation_vector );
    double a[9];
    CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, a );
    CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion );
    CvMat dpdr = cvMat( 2*point_count, 3, CV_64FC1, _deriv_points_rotation_matrix );
    CvMat dpdt = cvMat( 2*point_count, 3, CV_64FC1, _deriv_points_translation_vect );
    CvMat dpdf = cvMat( 2*point_count, 2, CV_64FC1, _deriv_points_focal );
    CvMat dpdc = cvMat( 2*point_count, 2, CV_64FC1, _deriv_points_principal_point );
    CvMat dpdk = cvMat( 2*point_count, 4, CV_64FC1, _deriv_points_distortion_coeffs );

    a[0] = focal_length[0]; a[4] = focal_length[1];
    a[2] = principal_point.x; a[5] = principal_point.y;
    a[1] = a[3] = a[6] = a[7] = 0.;
    a[8] = 1.;

    cvProjectPoints2( &object_points, &rotation_vector, &translation_vector,
                      &camera_matrix, &dist_coeffs, &image_points,
                      &dpdr, &dpdt, &dpdf, &dpdc, &dpdk );
}


/* Simpler version of the previous function */
CV_INLINE void  cvProjectPointsSimple( int point_count, CvPoint3D64f* _object_points,
    double* _rotation_matrix, double*  _translation_vector,
    double* _camera_matrix, double* _distortion, CvPoint2D64f* _image_points )
{
    CvMat object_points = cvMat( point_count, 1, CV_64FC3, _object_points );
    CvMat image_points = cvMat( point_count, 1, CV_64FC2, _image_points );
    CvMat rotation_matrix = cvMat( 3, 3, CV_64FC1, _rotation_matrix );
    CvMat translation_vector = cvMat( 3, 1, CV_64FC1, _translation_vector );
    CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, _camera_matrix );
    CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion );

    cvProjectPoints2( &object_points, &rotation_matrix, &translation_vector,
                      &camera_matrix, &dist_coeffs, &image_points,
                      0, 0, 0, 0, 0 );
}


CV_INLINE void cvUnDistortOnce( const CvArr* src, CvArr* dst,
                                const float* intrinsic_matrix,
                                const float* distortion_coeffs,
                                int CV_UNREFERENCED(interpolate) )
{
    CvMat _a = cvMat( 3, 3, CV_32F, (void*)intrinsic_matrix );
    CvMat _k = cvMat( 4, 1, CV_32F, (void*)distortion_coeffs );
    cvUndistort2( src, dst, &_a, &_k );
}


/* the two functions below have quite hackerish implementations, use with care
   (or, which is better, switch to cvUndistortInitMap and cvRemap instead */ 
CV_INLINE void cvUnDistortInit( const CvArr* CV_UNREFERENCED(src),
                                CvArr* undistortion_map,
                                const float* A, const float* k,
                                int CV_UNREFERENCED(interpolate) )
{
    union { uchar* ptr; float* fl; } data;
    CvSize sz;
    cvGetRawData( undistortion_map, &data.ptr, 0, &sz );
    assert( sz.width >= 8 );
    /* just save the intrinsic parameters to the map */
    data.fl[0] = A[0]; data.fl[1] = A[4];
    data.fl[2] = A[2]; data.fl[3] = A[5];
    data.fl[4] = k[0]; data.fl[5] = k[1];
    data.fl[6] = k[2]; data.fl[7] = k[3];
}

CV_INLINE void  cvUnDistort( const CvArr* src, CvArr* dst,
                             const CvArr* undistortion_map,
                             int CV_UNREFERENCED(interpolate) )
{
    union { uchar* ptr; float* fl; } data;
    float a[] = {0,0,0,0,0,0,0,0,1};
    CvSize sz;
    cvGetRawData( undistortion_map, &data.ptr, 0, &sz );
    assert( sz.width >= 8 );
    a[0] = data.fl[0]; a[4] = data.fl[1];
    a[2] = data.fl[2]; a[5] = data.fl[3];
    cvUnDistortOnce( src, dst, a, data.fl + 4, 1 ); 
}


CV_INLINE  float  cvCalcEMD( const float* signature1, int size1,
                             const float* signature2, int size2,
                             int dims, int dist_type CV_DEFAULT(CV_DIST_L2),
                             CvDistanceFunction dist_func CV_DEFAULT(0),
                             float* lower_bound CV_DEFAULT(0),
                             void* user_param CV_DEFAULT(0))
{
    CvMat sign1 = cvMat( size1, dims + 1, CV_32FC1, (void*)signature1 );
    CvMat sign2 = cvMat( size2, dims + 1, CV_32FC1, (void*)signature2 );

    return cvCalcEMD2( &sign1, &sign2, dist_type, dist_func, 0, 0, lower_bound, user_param ); 
}


CV_INLINE  void  cvKMeans( int num_clusters, float** samples,
                           int num_samples, int vec_size,
                           CvTermCriteria termcrit, int* cluster_idx )
{
    CvMat* samples_mat = cvCreateMat( num_samples, vec_size, CV_32FC1 );
    CvMat cluster_idx_mat = cvMat( num_samples, 1, CV_32SC1, cluster_idx );
    int i;
    for( i = 0; i < num_samples; i++ )
        memcpy( samples_mat->data.fl + i*vec_size, samples[i], vec_size*sizeof(float));
    cvKMeans2( samples_mat, num_clusters, &cluster_idx_mat, termcrit );
    cvReleaseMat( &samples_mat );
}


CV_INLINE void  cvStartScanGraph( CvGraph* graph, CvGraphScanner* scanner,
                                  CvGraphVtx* vtx CV_DEFAULT(NULL),
                                  int mask CV_DEFAULT(CV_GRAPH_ALL_ITEMS))
{
    CvGraphScanner* temp_scanner;
    
    if( !scanner )
        cvError( CV_StsNullPtr, "cvStartScanGraph", "Null scanner pointer", "cvcompat.h", 0 );

    temp_scanner = cvCreateGraphScanner( graph, vtx, mask );
    *scanner = *temp_scanner;
    cvFree( &temp_scanner );
}


CV_INLINE  void  cvEndScanGraph( CvGraphScanner* scanner )
{
    if( !scanner )
        cvError( CV_StsNullPtr, "cvEndScanGraph", "Null scanner pointer", "cvcompat.h", 0 );

    if( scanner->stack )
    {
        CvGraphScanner* temp_scanner = (CvGraphScanner*)cvAlloc( sizeof(*temp_scanner) );
        *temp_scanner = *scanner;
        cvReleaseGraphScanner( &temp_scanner );
        memset( scanner, 0, sizeof(*scanner) );
    }
}


#define cvKalmanUpdateByTime  cvKalmanPredict
#define cvKalmanUpdateByMeasurement cvKalmanCorrect

/* old drawing functions */
CV_INLINE  void  cvLineAA( CvArr* img, CvPoint pt1, CvPoint pt2,
                           double color, int scale CV_DEFAULT(0))
{
    cvLine( img, pt1, pt2, cvColorToScalar(color, cvGetElemType(img)), 1, CV_AA, scale );
}

CV_INLINE  void  cvCircleAA( CvArr* img, CvPoint center, int radius,
                             double color, int scale CV_DEFAULT(0) )
{
    cvCircle( img, center, radius, cvColorToScalar(color, cvGetElemType(img)), 1, CV_AA, scale );
}

CV_INLINE  void  cvEllipseAA( CvArr* img, CvPoint center, CvSize axes,
                              double angle, double start_angle,
                              double end_angle, double color,
                              int scale CV_DEFAULT(0) )
{
    cvEllipse( img, center, axes, angle, start_angle, end_angle,
               cvColorToScalar(color, cvGetElemType(img)), 1, CV_AA, scale );
}

CV_INLINE  void  cvPolyLineAA( CvArr* img, CvPoint** pts, int* npts, int contours,
                               int is_closed, double color, int scale CV_DEFAULT(0) )
{
    cvPolyLine( img, pts, npts, contours, is_closed,
                cvColorToScalar(color, cvGetElemType(img)),
                1, CV_AA, scale );
}


#define cvMake2DPoints cvConvertPointsHomogenious
#define cvMake3DPoints cvConvertPointsHomogenious

#define cvWarpPerspectiveQMatrix cvGetPerspectiveTransform

/****************************************************************************************\
*                                   Pixel Access Macros                                  *
\****************************************************************************************/

typedef struct _CvPixelPosition8u
{
    unsigned char*   currline;      /* pointer to the start of the current pixel line   */
    unsigned char*   topline;       /* pointer to the start of the top pixel line       */
    unsigned char*   bottomline;    /* pointer to the start of the first line           */
                                    /* which is below the image                         */
    int     x;                      /* current x coordinate ( in pixels )               */
    int     width;                  /* width of the image  ( in pixels )                */
    int     height;                 /* height of the image  ( in pixels )               */
    int     step;                   /* distance between lines ( in elements of single   */
                                    /* plane )                                          */
    int     step_arr[3];            /* array: ( 0, -step, step ). It is used for        */
                                    /* vertical moving                                  */
} CvPixelPosition8u;

/* this structure differs from the above only in data type */
typedef struct _CvPixelPosition8s
{
    char*   currline;
    char*   topline;
    char*   bottomline;
    int     x;
    int     width;
    int     height;
    int     step;
    int     step_arr[3];
} CvPixelPosition8s;

/* this structure differs from the CvPixelPosition8u only in data type */
typedef struct _CvPixelPosition32f
{
    float*  currline;
    float*  topline;
    float*  bottomline;
    int     x;
    int     width;
    int     height;
    int     step;
    int     step_arr[3];
} CvPixelPosition32f;


/* Initialize one of the CvPixelPosition structures.   */
/*  pos    - initialized structure                     */
/*  origin - pointer to the left-top corner of the ROI */
/*  step   - width of the whole image in bytes         */
/*  roi    - width & height of the ROI                 */
/*  x, y   - initial position                          */
#define CV_INIT_PIXEL_POS(pos, origin, _step, roi, _x, _y, orientation)    \
    (                                                                        \
    (pos).step = (_step)/sizeof((pos).currline[0]) * (orientation ? -1 : 1), \
    (pos).width = (roi).width,                                               \
    (pos).height = (roi).height,                                             \
    (pos).bottomline = (origin) + (pos).step*(pos).height,                   \
    (pos).topline = (origin) - (pos).step,                                   \
    (pos).step_arr[0] = 0,                                                   \
    (pos).step_arr[1] = -(pos).step,                                         \
    (pos).step_arr[2] = (pos).step,                                          \
    (pos).x = (_x),                                                          \
    (pos).currline = (origin) + (pos).step*(_y) )


/* Move to specified point ( absolute shift ) */
/*  pos    - position structure               */
/*  x, y   - coordinates of the new position  */
/*  cs     - number of the image channels     */
#define CV_MOVE_TO( pos, _x, _y, cs )                                                   \
((pos).currline = (_y) >= 0 && (_y) < (pos).height ? (pos).topline + ((_y)+1)*(pos).step : 0, \
 (pos).x = (_x) >= 0 && (_x) < (pos).width ? (_x) : 0, (pos).currline + (_x) * (cs) )

/* Get current coordinates                    */
/*  pos    - position structure               */
/*  x, y   - coordinates of the new position  */
/*  cs     - number of the image channels     */
#define CV_GET_CURRENT( pos, cs )  ((pos).currline + (pos).x * (cs))
 
/* Move by one pixel relatively to current position */
/*  pos    - position structure                     */
/*  cs     - number of the image channels           */
 
/* left */
#define CV_MOVE_LEFT( pos, cs ) \
 ( --(pos).x >= 0 ? (pos).currline + (pos).x*(cs) : 0 )
 
/* right */
#define CV_MOVE_RIGHT( pos, cs ) \
 ( ++(pos).x < (pos).width ? (pos).currline + (pos).x*(cs) : 0 )
 
/* up */
#define CV_MOVE_UP( pos, cs ) \
 (((pos).currline -= (pos).step) != (pos).topline ? (pos).currline + (pos).x*(cs) : 0 )
 
/* down */
#define CV_MOVE_DOWN( pos, cs ) \
 (((pos).currline += (pos).step) != (pos).bottomline ? (pos).currline + (pos).x*(cs) : 0 )
 
/* left up */
#define CV_MOVE_LU( pos, cs ) ( CV_MOVE_LEFT(pos, cs), CV_MOVE_UP(pos, cs))
 
/* right up */
#define CV_MOVE_RU( pos, cs ) ( CV_MOVE_RIGHT(pos, cs), CV_MOVE_UP(pos, cs))
 
/* left down */
#define CV_MOVE_LD( pos, cs ) ( CV_MOVE_LEFT(pos, cs), CV_MOVE_DOWN(pos, cs))
 
/* right down */
#define CV_MOVE_RD( pos, cs ) ( CV_MOVE_RIGHT(pos, cs), CV_MOVE_DOWN(pos, cs))
 
 
 
/* Move by one pixel relatively to current position with wrapping when the position     */
/* achieves image boundary                                                              */
/*  pos    - position structure                                                         */
/*  cs     - number of the image channels                                               */
 
/* left */
#define CV_MOVE_LEFT_WRAP( pos, cs ) \
 ((pos).currline + ( --(pos).x >= 0 ? (pos).x : ((pos).x = (pos).width-1))*(cs))
 
/* right */
#define CV_MOVE_RIGHT_WRAP( pos, cs ) \
 ((pos).currline + ( ++(pos).x < (pos).width ? (pos).x : ((pos).x = 0))*(cs) )
 
/* up */
#define CV_MOVE_UP_WRAP( pos, cs ) \
    ((((pos).currline -= (pos).step) != (pos).topline ? \
    (pos).currline : ((pos).currline = (pos).bottomline - (pos).step)) + (pos).x*(cs) )
 
/* down */
#define CV_MOVE_DOWN_WRAP( pos, cs ) \
    ((((pos).currline += (pos).step) != (pos).bottomline ? \
    (pos).currline : ((pos).currline = (pos).topline + (pos).step)) + (pos).x*(cs) )
 
/* left up */
#define CV_MOVE_LU_WRAP( pos, cs ) ( CV_MOVE_LEFT_WRAP(pos, cs), CV_MOVE_UP_WRAP(pos, cs))
/* right up */
#define CV_MOVE_RU_WRAP( pos, cs ) ( CV_MOVE_RIGHT_WRAP(pos, cs), CV_MOVE_UP_WRAP(pos, cs))
/* left down */
#define CV_MOVE_LD_WRAP( pos, cs ) ( CV_MOVE_LEFT_WRAP(pos, cs), CV_MOVE_DOWN_WRAP(pos, cs))
/* right down */
#define CV_MOVE_RD_WRAP( pos, cs ) ( CV_MOVE_RIGHT_WRAP(pos, cs), CV_MOVE_DOWN_WRAP(pos, cs))
 
/* Numeric constants which used for moving in arbitrary direction  */
#define CV_SHIFT_NONE   2
#define CV_SHIFT_LEFT   1
#define CV_SHIFT_RIGHT  3
#define CV_SHIFT_UP     6
#define CV_SHIFT_DOWN  10
#define CV_SHIFT_LU     5
#define CV_SHIFT_RU     7
#define CV_SHIFT_LD     9
#define CV_SHIFT_RD    11
 
/* Move by one pixel in specified direction                                     */
/*  pos    - position structure                                                 */
/*  shift  - direction ( it's value must be one of the CV_SHIFT_